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1,751 Commits 852 Branches 161 Tags
93dd4e57546b5c1e614ce893e348ab9b218b8aba
Commit Graph
88 Commits
Author SHA1 Message Date
Paul Riseborough 602e65146c EKF: Remove unnecessary initialisation 2021-02-09 19:55:32 +11:00
Paul Riseborough 6f664abc4a EKF: Non functional changes arising from review 2021-02-09 19:55:32 +11:00
Paul Riseborough e948b3505f EKF: Don't reject vertical aiding data if inertial solution is bad 
Also reduce clipping count threshold
 2021-02-09 19:55:32 +11:00
Paul Riseborough 9c89fa3b29 EKF: Use IMU clipping to adjudicate bad accel data check 2021-02-09 19:55:32 +11:00
Paul Riseborough b919f3ddf4 EKF: Restore protection from extreme innovation values 2021-01-21 20:55:42 +11:00
Paul Riseborough 556a195320 EKF: Improve handling of non position mode large position innovations 
These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.
 2021-01-21 20:55:42 +11:00
Paul Riseborough 7c81350c7a EKF: Don't yaw reset if not yaw induced nav failure 2020-10-06 20:50:52 +11:00
kamilritz aa2c77f92d Small cleanup in velposfusion 2020-08-24 18:04:57 +10:00
kamilritz 9e211d6ca1 Stop overwriting fault status with false if one component is true 2020-07-02 15:55:24 +02:00
kamilritz 16a00eae0b Make Kfusion a Vector24f 2020-07-02 09:02:24 +02:00
kamilritz 552bf824ea Add typedef for Matrix 24 types 2020-07-02 09:02:24 +02:00
kamilritz 48f0eb16da Remove uninformative comments 2020-06-26 08:26:26 +02:00
kamilritz 4a69b41015 Increase matrix library usage even more 2020-06-26 08:26:26 +02:00
Daniel Agar 2927132954 clang-format set BreakBeforeBraces to Linux style 
- this keeps things consistent with PX4/Firmware astyle
 2020-06-25 13:23:52 -04:00
bresch aa96fa6d9e Random style fixes in the code 2020-06-05 20:44:30 +02:00
Kamil Ritz 86fc94b75a Remove tilt align from position innovation check 2020-05-25 11:12:24 +02:00
Mathieu Bresciani 230c865fa9 EKF: do not fuse multiple times the same height (#767) 
* EKF: do not fuse multiple times the same height

The _fuse_height flag was never set to zero, hence the fusion was called
at each iteration, even if no new data is available.
The effects were: high CPU usage and virtually less measurement noise
due to multiple fusion of the same sample

Also remve unused variables
 2020-03-04 10:31:22 +01:00
kamilritz f20726d47f Expand auto-format coverage and tiny style changes 2020-01-27 16:54:25 +01:00
kamilritz 1fcfd394dd Various small non-functional improvements 2020-01-08 09:00:31 +01:00
kamilritz 36da8d82c8 Clean up white space 2020-01-08 09:00:31 +01:00
kamilritz 9e6d27fafb Add missing const qualifier 2020-01-08 09:00:31 +01:00
Paul Riseborough 0d0f46ec1c EKF: Don't run unnecessary makeRowColSymmetric operation 
This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
 2020-01-02 19:26:57 +11:00
kamilritz 92ba618f57 Improve on flash memory usage 2020-01-02 19:26:57 +11:00
kamilritz 459b76f9fd Make covariance matrices of type matrix::SquareMatrix 
and use functions from Matrix to reset covariances.
 2020-01-02 19:26:57 +11:00
kamilritz dae8c2f8dc Group velocity and position as a 3d vector 2019-12-05 20:09:34 +11:00
kamilritz 86b9079bdc Refactoring velPos fusion 2019-12-05 20:09:34 +11:00
kamilritz fd6b364c11 posNED to pos and velNED to vel and add ev vel covariances to reset 2019-09-24 07:48:46 +10:00
kamilritz 1e57c4bbec Fix white space 2019-09-24 07:48:46 +10:00
kamilritz bd8f05567a set vel_pos_test_ratio to zero if no fusion happens 2019-09-24 07:48:46 +10:00
kamilritz 3e8139ff9f Enable vision velocity fusion 2019-09-24 07:48:46 +10:00
Carl Olsson f0889c1760 EKF: fixed some comment typos 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2019-03-18 10:20:33 -04:00
Dion Gonano 2354c30d81 Add vision height covariance passthrough (#507) 
* Add vision height covariance passthrough

* Fix hgtErr layout
 2018-09-11 06:36:13 +10:00
Paul Riseborough 8a713398cb EKF: Improve ground effect compensation 
Start deadline at zero so that initial rotor wash effect is rejected.
 2018-06-09 22:23:55 +02:00
Paul Riseborough 75e65901ae EKF: fix bug causing height offset when GPS use stops 
This bug causes the last vertical velocity observation to be continuously fused.
 2018-05-10 10:55:56 +02:00
Daniel Agar c5b2f59f57 PX4 style fixes (excluding EKF generated code) 2018-05-03 22:25:36 -04:00
Daniel Agar cd12f049fe move geo and geo_lookup from PX4 Firmware to ECL 2018-03-26 21:52:11 -04:00
Paul Riseborough 89be63d6c2 EKF: Fix vel pos innovation logging bug 2017-11-24 14:25:44 +11:00
Paul Riseborough b0ad8269a5 EKF: enable separate monitoring of aux velocity innovations 2017-11-21 11:18:09 +11:00
Paul Riseborough 2a57fd858d EKF: clean up reset of fusion flags 2017-11-21 11:18:09 +11:00
Paul Riseborough 8e30c2666d EKF: Add support auxiliary velocity observation 
This enables the EKF to use an additional NE velocity measurement. This can be used to improve position hold stability when landing using a beacon system for positioning by fusing the beacon velocity estimates.
 2017-11-21 11:18:09 +11:00
Paul Riseborough a2b24fa960 EKF: Protect against ground effect induced static pressure rise during landing and takeoff. 
Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
 2017-11-17 21:41:31 +11:00
Paul Riseborough 01d68ef67c EKF: Enable use of rotated external nav estimates 2017-11-01 08:33:57 +11:00
CarlOlsson 0a7c3ecbc6 EKF: Parameterize maximum angle for rng fusion 2017-09-26 20:53:48 +02:00
Paul Riseborough e08da1c599 EKF: Add ability to use EV and GPS data together 
Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
 2017-07-26 18:06:18 +10:00
Roman a0ab5cf0d7 ekf vel_pos_fusion: added height sensor offset to range innovation calculation 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-15 09:10:43 +02:00
Paul Riseborough 3dadc98b43 EKF: enable scaling of range observation variance with height 2017-02-22 14:12:05 +01:00
Paul Riseborough cf9c8de167 EKF: Add arbitrary pitch offset for range sensor 2017-02-22 14:12:05 +01:00
Beat Küng 25cb400da9 EKF: remove Ekf::KHP and move KHP to the methods where it's used 
Everywhere where KHP is used, it is first completely reset, thus making
it unnecessary to keep it as a class member.

This saves 2.3KB RAM.

Stack sizes don't need changing, since there is already a function
Ekf::predictCovariance(), which needs around 3KB of stack and is called
close to where the fuse* functions are called.
 2016-11-01 22:49:20 +01:00
Paul Riseborough 65da9173b9 EKF: capture innovation checks and reset events in separate variables 
rename the innovation check status class variable and remove the reset flags from it.
 2016-06-01 17:13:00 +10:00
Paul Riseborough 52f6eea52b EKF: capture position and velocity innovation test failures 2016-06-01 17:13:00 +10:00